robotiqGripper module
Created on Wed Oct 17 17:33:20 2018 Python class to control robotiq gripper via python @author: Benoit CASTETS
- class robotiqGripper.RobotiqGripper(portname='auto', slaveAddress=9)[source]
Bases:
Instrument
“Class to control Robotiq grippers (2F85, 2F140, hande,…). Suppose that the gripper is connected via the USB/RS485 adapter to the PC executing this code.
Some general information about robotiq gripper.
Modbus RTU function code supported by robotiq gripper ===================================== ==================== Description Modbus function code ===================================== ==================== Read registers 4 Write registers 16 Master read & write multiple registers 23 ================== ====================
For more information for gripper communication please check gripper manual on Robotiq website. https://robotiq.com/support/2f-85-2f-140
- closeGripper(speed=255, force=255)[source]
Close the gripper
Parameters
- speed:
Gripper speed between 0 and 255
- force:
Gripper force between 0 and 255
- getPosition()[source]
Return the position of the gripper in bit.
Return
- position:
Gripper position in bit
- current:
Motor current in bit. 1bit is about 10mA.
- getPositionmm()[source]
Return the position of the gripper in mm. Calibration is need to use this function.
- goTo(position, speed=255, force=255)[source]
Go to the position with determined speed and force.
Parameters
- position:
Position of the gripper. Integer between 0 and 255. 0 being the open position and 255 being the close position.
- speed:
Gripper speed between 0 and 255
- force:
Gripper force between 0 and 255
Return
- objectDetected:
True if object detected
- position:
End position of the gripper
- goTomm(positionmm, speed=255, force=255)[source]
Go to the requested opening expressed in mm
Parameters
- positionmm:
Gripper opening in mm.
- speed:
Gripper speed between 0 and 255
- force:
Gripper force between 0 and 255
Return
Return 0 if succeed, 1 if failed.
- isActivated()[source]
Tells if the gripper is activated
Return
- activated - bool:
True is the gripper is activated. False otherwise.
- openGripper(speed=255, force=255)[source]
Open the gripper
Parameters
- speed:
Gripper speed between 0 and 255
- force:
Gripper force between 0 and 255
- readAll()[source]
Retrieve gripper output register information and save it the parameter dictionnary
Dictionnary keys are: - gOBJ Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0. - gSTA Gripper status, returns the current status and motion of the gripper fingers. - gGTO Action status, echo of the rGTO bit (go to bit). - gACT Activation status, echo of the rACT bit (activation bit). - kFLT See your optional controller manual (input registers and status). - gFLT Fault status returns general error messages that are useful for troubleshooting.
Fault LED (red) is present on the gripper chassis,LED can be blue, red or both and be solid or blinking.
gPR Echo of the requested position for the gripper, value between 0x00 and 0xFF.
gPO Actual position of the gripper obtained via the encoders, value between 0x00 and 0xFF.
- gCU The current is read instantaneously from the motor drive, value between 0x00 and 0xFF,
approximate current equivalent is 10 *value read in mA.